HYBRID DYNAMIC MODELING AND CONTROL OF CONSTRAINED MANIPULATION SYSTEMS

Discrete event systems are presented as a powerful framework for a lar ge number of robot control tasks. This paper presents a general descri ption of the discrete event modeling and control synthesis for robot m anipulation, Additionally, methods for the effective monitoring of the process based on the detection and identification of discrete events are given, The effectiveness and versatility of the approach are demon strated through a wide variety of experiments, Applications are demons trated in assembly, on-line training of robots, advanced perception ca pabilities, human-robot shared control and the understanding of human manipulation skills.